超声波雪深测量回波信号的卡尔曼滤波建模方法

Kalman Filter Modeling Method for Echo Signal of Ultrasonic Snow Depth Measurement

本文提出一种基于卡尔曼滤波的超声波雪深测量的回波信号的建模方法,以便为不同降雪粒子的雪深测量、分类或减小测量误差带来方便。该方法首先采集真实雪深的回波信号,然后对解调后的信号用卡尔曼滤波方法拟合,其中利用了状态方程递推算法,拟合后的解调信号经希尔伯特变换同频率调制后获得回波信号,最后将原信号与数字拟合信号进行对比分析,证明该方法能够合成积雪回波信号,达到提高测量准确性的目的。

A modeling method for the echo signals of ultrasonic snow depth measurement is presented based on Kalman filtering,which is in order to facilitate the measurement,classification or reduction of measurement errors of different snow particles. According to the modeling method the echo signal of the real snow depth is collected firstly,and then it fits the demodulated signal by Kalman filtering method,which uses the state equation recursive algorithm. The demodulated signal after the fitting is modulated by Hilbert transform with the same frequency to obtain the echo signal. Finally,the original signal is compared with the digital fitting signal,which proves that the method can synthesize the snow echo signal and achieve the purpose of improving the measurement accuracy.